JPH035955B2 - - Google Patents

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention provides a twist wrist that is rotatably attached to the tip of an arm body, and a bend that rotates around an axis that is inclined with respect to the rotation axis of the twist wrist. This invention relates to a robot equipped with a wrist and a swivel wrist that rotates around an axis inclined with respect to the rotation axis of the bend wrist.

<Prior art> Conventionally, in a robot having six axes of freedom, a twist body is rotatably attached to the arm body, and the tip of the twist body is bent so that it can rotate around an axis that is inclined with respect to the rotation axis of the twist body. is supported on the bend body, and a swivel shaft is supported on the bend body so that it can rotate around an axis that is inclined with respect to the rotation axis of the bend body.Because the twist body and the bend body interfere with each other, the operating range of the bend body is wide. There were restrictions that were not present. Therefore, in order to widen the operating range of the bend body, an eccentric cylindrical part eccentric to the rotational axis of the twist body is formed at the tip of the twist body, and a bending rotation that transmits rotational power to the bend body is formed at the tip of the twist body. It is effective to make the swivel rotating shaft, which transmits rotational power to the shaft and swivel shaft, in a double structure and rotatably support it, but it is also effective to assemble the bending rotating shaft and the swivel rotating shaft directly to the eccentric cylinder. However, there is a problem that this assembly work is not easy and takes a long time.

<Object of the invention> In order to solve the above-mentioned problems, the object of the present invention is to facilitate the assembly of a swivel rotation shaft and a bend rotation shaft to a twist body, and to shorten the assembly time. .

<Structure of the Invention> The robot according to the present invention has a double structure in which a swivel rotation shaft and a bend rotation shaft are rotatably supported almost coaxially in a bearing case, and a rotation axis of the twist body is attached to the tip of the twist body. The present invention is characterized in that an eccentric cylindrical portion is formed eccentrically with respect to the bearing case, and the bearing case is fixed to this eccentric cylindrical portion.

<Examples> Examples of the present invention will be described below based on the drawings. Figure 1 shows a robot with six axes of freedom.
This robot has a swing base 11 that is driven to swing around a vertical axis A1 by a first shaft drive motor 12, and a first arm 13 that is driven to swing around a horizontal axis A2 by a second drive motor 15. ,
A second arm 14 is rotatably driven around an axis A3 parallel to the horizontal axis A2 by a third axis drive motor (not shown), and a tip of the second arm 14 is attached to the tip of the second arm 14 about an axis A3 parallel to the horizontal axis A2. Axis A perpendicular to
4, the twist wrist part 18 is rotatably driven by a fourth axis drive motor 21, and the twist wrist part 18 is rotated by a fifth axis drive motor 22 around an axis A5 inclined with respect to the axis A4. and a swivel wrist that is rotated by a sixth axis drive motor (not shown) around an axis A6 inclined with respect to the axis A5. It consists of part 20.

Next, the configuration of the second arm 14 will be explained based on FIGS. 2 and 3. 25 is the first arm 1
The arm body of the second arm 14 is rotatably supported around the axis A3 at the distal end of the arm body 2, and a gear housing 80 is fixed to one end of the arm body 2. The support tube 27 is attached to the gear housing 80.
is fixed, and a cylindrical rotating body 31 is fixed to this support cylinder 27.
is rotatably supported around an axis A4. This rotating body 31 is connected to a large diameter gear 32 rotatably supported by a gear housing 80, and this large diameter gear 32 is connected to the fourth shaft drive motor 21 via a required reduction gear mechanism 33. There is.
Further, a first rotating shaft 34 is rotatably supported on the gear housing 80 on the same axis as the rotating body 31, and a second rotating shaft is located at an eccentric position offset by a predetermined amount ε1 with respect to the rotating shaft 34. A rotating shaft 35 is rotatably supported. The first rotating shaft 34 is connected to the fifth shaft drive motor 22 via a gear 36 formed at one end and a required reduction gear mechanism 37. Similarly, the second rotating shaft 35 is connected to the sixth shaft drive motor via a gear 38 formed at one end, an intermediate gear 39 rotatably supported on the first rotating shaft 34, and a reduction gear mechanism (not shown). has been done.

A bearing housing 41 is fixed to the other end, that is, the tip of the rotating body 31, and a third rotating shaft 42 is connected to the first rotating shaft 3 to this bearing housing 41.
It is rotatably supported on the same axis as 4.
One end of this third rotating shaft 42 is connected to the first rotating shaft 3 via a connecting shaft 45 and coupling rings 46 and 47.
4, and a gear 51 is formed at the other end. In addition, a bearing case 4 is provided at the tip of the rotating body 31.
3 is fixed to the bearing case 43, and a fourth rotating shaft 44 is rotatably supported on the same axis as the second rotating shaft 35. One end of the fourth rotating shaft 44 is rotationally connected to the second rotating shaft 35 via a connecting shaft 48 and coupling rings 49 and 50, and a coupling hole 52 is formed at the other end.

Next, the structure of the list will be explained based on FIGS. 3 and 4.

A twist body 55 is provided on the tip end surface of the rotating body 31.
is fixed to the twist body 55, and an eccentric cylindrical portion 56 substantially concentric with the fourth rotating shaft 44 is provided on the twist main body 55. A bearing case 57 is fitted into the eccentric cylindrical portion 56, and the eccentric cylindrical portion 5 is fitted into the eccentric cylindrical portion 56 by inserting a pin hole 81 into a pin hole 90 formed in the bearing case 57 from the outside of the twist body 55.
6 is prevented from rotating, and an engaging member 83 is inserted from the outside of the twist body 55 into an engaging hole 82 formed in the bearing case 57 at a position spaced apart from the pin 90, and this engaging member 83 is twisted. By being fixed to the main body 55, the bearing case 57 is positioned and held at a predetermined position within the eccentric cylinder portion 58.
A rotary sleeve 58 is rotatably supported on this bearing case 57 around an axis that is eccentric by a slight amount ε2 with respect to the axis of the fourth rotary shaft 44. A toothed wheel 59 that meshes with a gear 51 on the shaft 42 is attached, and one end of this gear 59 is supported by the bearing housing 41 . A bevel gear 60 is provided at the tip of the rotating sleeve 58. A bearing part 61 is provided at the distal end of the bearing case 57 and extends in the diametrical direction in front of the bevel gear 60 .
A rotating shaft 62 passing through the fourth rotating shaft 44 is rotatably supported concentrically with the fourth rotating shaft 44 . The rear end of the rotating shaft 62 is inserted into the coupling hole 52 on the fourth rotating shaft 44 and is integrally coupled thereto, and a bevel gear 63 is formed at the tip.

A bend main body 65 is rotatably supported at the tip of the twist main body 55 around an axis A5 inclined at a predetermined angle with respect to the rotation axis A4 of the rotary body 31. A bevel gear 66 that meshes with the bevel gear 60 is attached. A tilt shaft 67 is rotatably supported between the twist body 55 and the bend body 65 so as to be rotatable around the tilt axis A5, and a bevel gear 68 that meshes with the bevel gear 63 on the rotary shaft 62 is mounted on the tilt shaft 67. is attached, and a bevel gear 69 is also attached. The rotating body 31 is attached to the bend body 65 at a certain angular position of the bend body 65.
A bevel gear 71 is formed on the swivel shaft 70 and is rotatably supported on a swivel shaft 70 around an axis A6 coinciding with the rotation axis A4 of the swivel shaft 70, and meshes with the bevel gear 69 on the inclined shaft 67. Various work elements such as a handling device can be attached to the tip flange portion 72 of the swivel shaft 70 depending on the work purpose of the robot.

The operation of assembling the rotating sleeve 58 and rotating shaft 62 to the eccentric cylinder portion 56 will be described based on the configuration described above. First, the rotating sleeve 58 is supported by the bearing case 57 outside the twist body 55, and then the rotating shaft 62 is inserted through the rotating sleeve 58 and supported by the rotating shaft 62. A gear 59 is fixed to one end of the rotating sleeve 58. The bearing case 57 to which the rotating sleeve 58 and rotating shaft 62 are attached is fitted into the eccentric cylinder portion 56, and the bevel gear 63 is meshed with the bevel gear 68. Next, the pin 81 is inserted into the pin hole 90 from the outside of the twist body 55, and then the coupling member 83 is inserted into the engagement hole 82 from the outside of the twist body 55 as well. By fixing the engaging member 83 to the twist body 55, the bearing case 57 is held at a predetermined position in the eccentric cylinder portion 56.

The rotating sleeve 58 and the rotating shaft 62 are connected to the eccentric cylindrical portion 56
In parallel with the work of assembling to the rotating body 31, the work of attaching the third rotating shaft 42 and the fourth rotating shaft 44 to the rotating body 31 is performed.

The twist body 55 is attached to the rotating body 31 to which the third rotating shaft 42 and the fourth rotating shaft 44 are attached so that the gear 59 meshes with the gear 51 and the rotating shaft 62 is inserted into the coupling hole 52. It will be done.

In the installation operation described above, the twist body 5
5, assemble the rotating sleeve 58 and rotating shaft 62 to the bearing case 57, and
Since the bearing case 57 with which the rotating sleeve 58 and the rotating shaft 62 are assembled is positioned and held on the eccentric cylinder portion 56 from the outside of the twist main body 55, the rotating sleeve 58 and the rotating shaft 62 can be easily assembled onto the twist main body 55.

<Structure of the Invention> As described above, the present invention enables the bend rotating shaft that transmits rotational power to the bend body and the swivel rotating shaft that transmits rotational power to the swivel shaft to be able to rotate substantially coaxially within a bearing case. Since it has a double structure with bearings and this bearing case is fixed within the eccentric cylinder formed at the tip of the twist main body, assembly is easy and the assembly time can be shortened.

[Brief explanation of drawings]

The drawings show embodiments of the present invention; FIG. 1 is an external view of a robot according to the present invention, FIG. 2 is an enlarged sectional view of the second arm of the robot, and FIG. 3 is an enlarged sectional view of the wrist portion of the robot. FIG. 4 is an enlarged sectional view of the inside of the eccentric cylinder section. 25...Arm body, 31...Rotating body, 32...
...Large diameter gear, 34...First rotating shaft, 35... Second rotating shaft, 37... Reduction gear mechanism, 41... Bearing housing, 42... Third rotating shaft, 43...
Bearing case, 44... Fourth rotating shaft, 45, 48
... Connection shaft, 46, 47, 49, 50 ... Coupling, 51 ... Gear, 52 ... Connection hole, 55 ...
...Twist body, 56... Eccentric tube part, 57... Bearing case, 58... Rotating sleeve, 59... Bearing case, 62... Rotating shaft, 80... Gear housing, 81... Pin, 82... Connection Matching hole, 83... Engagement member, 90... Pin hole.

Claims (1)

[Claims] 1 A rotating body is rotatably supported within the arm body,
A twist body is fixed to the tip of this rotary body, a bend body is supported on the tip of the twist body so as to be rotatable around an axis inclined with respect to the rotation axis of the twist body, and a swivel shaft is attached to the bend body so that the bend body can rotate around the rotation axis of the bend body. The robot is rotatably supported around an axis inclined to the swivel shaft, and a swivel rotation shaft that transmits rotational power to the swivel shaft and a bend rotation shaft that transmits rotational power to the bend body rotate substantially coaxially. an eccentric cylinder part eccentric to the rotational axis of the twist body is formed at the tip of the twist main body, and a bearing case bearing each of the rotational shafts is fixed in the eccentric cylinder part. A robot characterized by: